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Pendulum teleop flakiness reduction #232

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merged 5 commits into from
Apr 3, 2018
Merged

Pendulum teleop flakiness reduction #232

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f424ddf
Sleep before exiting to get msgs out
dhood Mar 12, 2018
2768fce
Subscribe to teleop msg with transient local
dhood Apr 3, 2018
e7d505c
Force flush for output sync
dhood Apr 3, 2018
cf8d7cb
Avoid interrupting already exiting pendulum demo
dhood Mar 12, 2018
37f865e
Use printf
dhood Apr 3, 2018
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6 changes: 5 additions & 1 deletion pendulum_control/src/pendulum_demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -197,8 +197,12 @@ int main(int argc, char * argv[])
pendulum_controller->on_pendulum_setpoint(msg);
};

// Receive the most recently published message from the teleop node publisher.
auto qos_profile_setpoint_sub(qos_profile);
qos_profile_setpoint_sub.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;

auto setpoint_sub = controller_node->create_subscription<pendulum_msgs::msg::JointCommand>(
"pendulum_setpoint", controller_command_callback, qos_profile, nullptr, false,
"pendulum_setpoint", controller_command_callback, qos_profile_setpoint_sub, nullptr, false,
setpoint_msg_strategy);

// Initialize the logger publisher.
Expand Down
4 changes: 3 additions & 1 deletion pendulum_control/src/pendulum_teleop.cpp
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Expand Up @@ -54,7 +54,9 @@ int main(int argc, char * argv[])
rclcpp::sleep_for(500ms);
pub->publish(msg);
rclcpp::spin_some(teleop_node);
std::cout << "Teleop node exited." << std::endl;
printf("Teleop message published.\n");
rclcpp::sleep_for(1s);
printf("Teleop node exited.\n");

rclcpp::shutdown();
}
4 changes: 4 additions & 0 deletions pendulum_control/test/test_pendulum_demo.py.in
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Expand Up @@ -16,6 +16,9 @@ def setup():
os.environ['OSPL_VERBOSITY'] = '8' # 8 = OS_NONE
# bare minimum formatting for console output matching
os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '{message}'
# force flush of the stdout buffer.
# this ensures a correct sync of prints from processes executed within the launch file.
os.environ['RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED'] = '1'


def test_executable():
Expand Down Expand Up @@ -53,6 +56,7 @@ def test_executable():

pendulum_demo_handler = create_handler(
pendulum_demo_name, launch_descriptor, pendulum_demo_output_file,
exit_on_match=False, # the process will exit automatically after a set number of iterations
filtered_prefixes=filtered_prefixes,
filtered_rmw_implementation=rmw_implementation)
assert pendulum_demo_handler, \
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3 changes: 3 additions & 0 deletions pendulum_control/test/test_pendulum_teleop.py.in
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Expand Up @@ -17,6 +17,9 @@ def setup():
os.environ['OSPL_VERBOSITY'] = '8' # 8 = OS_NONE
# bare minimum formatting for console output matching
os.environ['RCUTILS_CONSOLE_OUTPUT_FORMAT'] = '{message}'
# force flush of the stdout buffer.
# this ensures a correct sync of prints from processes executed within the launch file.
os.environ['RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED'] = '1'


def test_executable():
Expand Down